A robot gripping tool for die castings

Abstract

The present invention relates to the technical field of high-temperature aluminum product transportation, and discloses a robot grasping tooling for die-castings, comprising: a frame, a pair of first damping plates, a pair of second damping plates, a pair of third damping plates, a plurality of buffers, a mobile frame, and a plurality of guide column assemblies. The frame is a double-layer frame structure, and a fixing hole is opened on the upper structure, and the fixing hole corresponds to the casting port position of the die-casting. A pair of first damping plates are relatively fixedly connected to the upper structure of the frame near the front and rear side ends, a pair of second damping plates are respectively arranged on the inner side of the first damping plates, and a plurality of guide column assemblies are fixedly connected between the two layers of the frame, and are respectively arranged near the four corners of the frame. The mobile frame is arranged in parallel between the two layers of the frame, and is slidably connected with a plurality of guide column assemblies. The device of the present invention does not need to match the robot's descending speed with the die-casting machine's demoulding speed. After the die-casting is completely demoulded, it will only impact the device of the present invention, and will not impact the robot, thereby reducing the difficulty of operation and improving production efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of high-temperature aluminum product transfer, and in particular to a robot grabbing tool for die-castings. Background Art

[0002] On a low-pressure casting production line in China, an ABB industrial robot equipped with a gripping tool is installed to replace manual handling of high-temperature aluminum die-castings that have just come out of the furnace. This is used to meet the production and handling needs of the newly added die-casting machines and improve the intelligence level and production efficiency of the production line. Since the newly die-cast workpieces have flash burrs, and the locations of the flash burrs on each workpiece are random, the original tooling used to grip the die-castings uses a clamping edge method, so the flash burrs always affect the gripping effect, which in turn causes production stagnation. Summary of the invention

[0003] The invention provides a robot grasping tool for die castings, which can avoid being affected by flash burrs during grasping and improve the stability and reliability of grasping the workpiece.

[0004] The present invention provides a robot grasping tool for die castings, comprising:

[0005] The frame is a double-layer frame structure, including an upper structure and a lower structure. The upper structure is provided with fixing holes, which correspond to the positions of the casting ports of the die castings and have matching dimensions.

[0006] A pair of first damping plates, fixedly connected to the upper structure of the frame near the front and rear side ends and parallel to the upper end surface of the frame;

[0007] A pair of second damping plates, respectively arranged on the outer sides of the first damping plates, parallel to the first damping plates, with lower ends connected to the upper layer of the frame through a plurality of buffers, and when no force is applied, the second damping plates are located above the first damping plates;

[0008] A plurality of guide column assemblies are fixedly connected between the two-layer structure of the frame and are respectively arranged near the four corners of the frame;

[0009] The mobile frame is arranged in parallel between the two layers of the frame and is slidably connected with a plurality of guide column assemblies.

[0010] Optionally, a shock absorbing member is provided on the outer periphery of the plurality of guide column assemblies, and the shock absorbing member is located above the movable frame.

[0011] Optionally, the buffer is a spring.

[0012] Optionally, the shock absorbing member is a shock absorbing spring.

[0013] Optionally, a robot quick-connect connector is fixedly connected to the outer side of the mobile frame.

[0014] Optionally, also include:

[0015] A pair of third shock-absorbing plates are respectively fixed to the upper structure of the frame near the left and right side ends, and are arranged on the outside of the first shock-absorbing plate and the second shock-absorbing plate, parallel to the first shock-absorbing plate, and flush with the first shock-absorbing plate. A baffle is vertically fixedly connected to the third shock-absorbing plate near the outer edge.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention uses the die-casting itself to fix the casting with the fixing hole on the frame, which is not affected by flash burrs, improves the stability and reliability of grabbing the workpiece, and uses the combination of buffer parts and shock-absorbing plates to reduce the impact force of the die-casting falling and prevent the die-casting from being damaged. The designed frame does not need to match the robot's descending speed with the die-casting machine's demolding speed. After the die-casting is completely demolded, it will only impact the device of the present invention, not the robot, thereby reducing the difficulty of operation and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the overall structure of a robot gripping tool for die castings provided in an embodiment of the present invention;

[0018] Figure 2 A top view of a robot gripping tool for die castings provided in an embodiment of the present invention;

[0019] Figure 3 for Figure 2 Schematic diagram of the structure in the middle BB direction;

[0020] Figure 4 It is the main view of the die casting;

[0021] Figure 5 A top view of the die casting.

[0022] Description of reference numerals:

[0023] 1-frame, 2-fixing hole, 3-first shock absorbing plate, 4-second shock absorbing plate, 5-third shock absorbing plate, 6-buffer, 7-movable frame, 8-guide column assembly, 9-shock absorbing member, 10-robot quick plug connector, 11-baffle, 12-casting port. DETAILED DESCRIPTION

[0024] The following is combined with Figure 1-5 , a specific embodiment of the present invention is described in detail, but it should be understood that the protection scope of the present invention is not limited by the specific embodiment.

[0025] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the technical solutions of the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0026] like Figure 1-5 As shown, a robot grasping tooling for die castings provided by an embodiment of the present invention comprises: a frame 1, a pair of first damping plates 3, a pair of second damping plates 4, a plurality of guide column assemblies 8 and a movable frame 7. The frame 1 is a double-layer frame structure, comprising an upper structure and a lower structure. A fixing hole 2 is opened on the upper structure, and the fixing hole 2 corresponds to the position of the casting port 12 of the die casting and has matching size. A pair of first damping plates 3 are relatively fixedly connected to the upper structure of the frame 1 near the front and rear side ends, parallel to the upper end surface of the frame 1, a pair of second damping plates 4 are respectively arranged on the outer sides of the first damping plates 3, parallel to the first damping plates 3, and the lower ends are connected to the upper layer of the frame 1 through a plurality of buffer members 6. When no force is applied, the second damping plates 4 are located above the first damping plates 3. A plurality of guide column assemblies 8 are fixedly connected between the two layers of the frame 1, and are respectively arranged near the four corners of the frame 1. The movable frame 7 is arranged in parallel between the two layers of the frame 1 and is slidably connected to the plurality of guide column assemblies 8.

[0027] Usage and working principle: In this embodiment, there are 4 guide column assemblies 8. When in use, the robot quick-plug connector 10 is fixedly connected to the outer side of the mobile frame 7. After the upper mold and the lower mold of the die-casting machine are separated and the lower mold is completely lowered to the starting position, the robot is connected to the robot quick-plug connector 10 and drives the grabbing tooling to be located on the lower mold platform directly below the upper mold of the die-casting machine. Then, the die-casting upper mold continues to descend to a certain distance from the material receiving position of the grabbing tooling. After the die-casting part is separated from the upper mold, it lands on the second shock-absorbing plate 4 of the grabbing tooling. The buffer 6 installed on the frame 1 will be compressed to cause the two second shock-absorbing plates 4 to descend and to be connected with the two first shock-absorbing plates 3 installed on the frame 2. The two casting ports 12 of the die-casting part will also be accurately located in the fixed holes 2 on the frame 2. In the process of the robot transporting the workpiece to the predetermined position, the mobile frame 7 slides on the four guide column assemblies 8 when the robot starts to accelerate or stops to decelerate, so that the acceleration process of the robot starting and the deceleration process of stopping are prolonged and the force changes linearly, which will not cause high-frequency oscillation of the robot or exceed the maximum load.

[0028] The present invention adopts the combination of the casting port of the die-casting itself and the fixing hole on the frame to fix the die-casting, which is not affected by flash burrs, improves the stability and reliability of grabbing the workpiece, adopts the combination of buffer parts and shock-absorbing plates to reduce the impact force of the die-casting falling and prevent the die-casting from being damaged. The designed frame does not need to match the robot's descending speed and the die-casting machine's demoulding speed. After the die-casting is completely demolded, it will only impact the device of the present invention, and will not impact the robot, thereby reducing the difficulty of operation and improving production efficiency.

[0029] In production, an ABB industrial robot equipped with a gripping tool is configured to replace manual handling of high-temperature aluminum die-castings that have just been taken out of the furnace. The maximum load of this robot on this production line is 175Kg, and it does not have a high-frequency load oscillation function, which causes the robot to always trigger an operation alarm during normal operation. The robot drives the gripping tool to clamp the workpiece, and then the die-casting machine demoulding process and the robot vertical downward movement process are carried out simultaneously until the complete demoulding. The robot moves the workpiece to the predetermined position. During this process, the robot frequently alarms and stops. In order to prevent the robot from alarming, the load it bears must be stable. Therefore, the demoulding speed of the die-casting machine must be kept consistent with the downward movement speed of the robot. However, in actual working conditions, the die-casting machine uses hydraulic pressure for demoulding, and this speed is uncontrollable. The movement of the robot arm has an acceleration process at startup and a deceleration process before stopping, and the entire stroke is too short. For the above reasons, the speed of the two is not synchronized during the entire demoulding process, which will cause the robot load to oscillate at a high frequency or exceed the maximum load, causing the robot protection program to start-alarm shutdown, resulting in production pauses.

[0030] In this embodiment, shock-absorbing members 9 are provided on the outer peripheries of the plurality of guide column assemblies 8, and the shock-absorbing members 9 are located above the moving frame 7. When the robot transports the workpiece to a predetermined position, the moving frame 7 slides on the four guide column assemblies 8 when the robot starts to accelerate or stops to decelerate. At the same time, the four shock-absorbing members 9 respectively located on the guide column assemblies 8 will be compressed or restored, so that the acceleration process of the robot's start and the deceleration process of its stop are prolonged and the force changes linearly, which will not cause high-frequency oscillation of the robot or exceed the maximum load, thereby reducing the alarm shutdown of the robot and improving production efficiency.

[0031] Optionally, the buffer member 6 is a spring or a hydraulic cylinder.

[0032] Optionally, the shock absorbing member 9 is a shock absorbing spring. By using a shock absorbing spring device, the acceleration process of the robot's startup and the deceleration process of its stop are prolonged and the force changes linearly, which will not cause high-frequency oscillation of the robot or exceed the maximum load, thereby reducing the alarm shutdown of the robot.

[0033] Optionally, a robot quick-connect connector 10 is fixedly connected to the outer side of the movable frame 7 .

[0034] Optionally, a robot grasping tooling for die-castings provided by the present invention also includes a pair of third shock-absorbing plates 5, which are respectively fixed to the upper structure of the frame 1 near the left and right side ends, and are arranged on the outside of the first shock-absorbing plate 3 and the second shock-absorbing plate 4, parallel to the first shock-absorbing plate 3, and flush with the first shock-absorbing plate 3. The third shock-absorbing plate 5 is vertically fixed with a baffle 11 near the outer edge. After the die-casting is separated from the upper mold, it lands on the second shock-absorbing plate 4 of the grasping tooling, and the buffer 6 installed on the frame 1 will be compressed to cause the two second shock-absorbing plates 4 to descend and be flush with the third shock-absorbing plate 5 installed on the frame 2. The baffles 11 on both sides further limit the die-casting.

[0035] The above disclosures are only several specific embodiments of the present invention. However, the embodiments of the present invention are not limited thereto. Any changes that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A robot gripping tool for die castings, characterized in that: include: The frame (1) is a double-layer frame structure, comprising an upper structure and a lower structure, the upper structure is provided with a fixing hole (2), the fixing hole (2) corresponds to the position of the casting port (12) of the die casting part, and the size thereof matches; A pair of first damping plates (3) fixedly connected to the upper structure of the frame (1) near the front and rear side ends and parallel to the upper end surface of the frame (1); A pair of second shock absorbing plates (4), respectively arranged on the outside of the first shock absorbing plate (3), parallel to the first shock absorbing plate (3), with the lower ends connected to the upper structure of the frame (1) via a plurality of buffer members (6), and when no force is applied, the second shock absorbing plates (4) are located above the first shock absorbing plates (3); A plurality of guide column assemblies (8) are fixedly connected between two layers of the frame (1) and are respectively arranged near four corners of the frame (1); A movable frame (7) is arranged in parallel between the two layers of the frame (1) and is slidably connected to the plurality of guide column assemblies (8); A pair of third damping plates (5), respectively fixed to the upper structure of the frame (1) near the left and right side ends, and arranged outside the first damping plate (3) and the second damping plate (4), parallel to the first damping plate (3), and flush with the first damping plate (3); a baffle (11) is vertically fixedly connected to the third damping plate (5) near the outer edge; There are four guide column assemblies (8). When in use, the robot quick-connect connector (10) is fixedly connected to the outer side of the mobile frame (7). After the upper die and the lower die of the die-casting machine are separated and the lower die is completely lowered to the starting position, the robot is connected to the robot quick-connect connector (10) and drives the grabbing tool to be located on the lower die platform directly below the upper die of the die-casting machine. After that, the upper die of the die-casting machine continues to descend to a certain distance from the material receiving position of the grabbing tool. After the die-casting part is separated from the upper die, it falls on the second damping plate (4) of the grabbing tool. The buffer (6) installed on the frame (1) will be pressed. The two second damping plates (4) are retracted so as to descend and become flush with the two first damping plates (3) mounted on the frame (1), and the two casting ports (12) of the die-casting are accurately located in the fixing holes (2) on the frame (1). When the robot transports the workpiece to a predetermined position, the moving frame (7) slides on the four guide column assemblies (8) when the robot starts to accelerate or stops to decelerate, so that the acceleration process of the robot when starting and the deceleration process when stopping are prolonged and the force changes linearly, which will not cause high-frequency oscillation of the robot or exceed the maximum load.

2. The robot gripping tool for die castings according to claim 1, characterized in that: A shock absorbing member (9) is provided on the outer periphery of the plurality of guide column assemblies (8), and the shock absorbing member (9) is located above the movable frame (7).

3. The robot gripping tool for die castings according to claim 1, characterized in that: The buffer component (6) is a spring.

4. The robot gripping tool for die castings according to claim 2, characterized in that: The shock absorbing component (9) is a shock absorbing spring.

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